WO2022091241A1 - オフセット値設定方法およびロボット制御装置 - Google Patents

オフセット値設定方法およびロボット制御装置 Download PDF

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Publication number
WO2022091241A1
WO2022091241A1 PCT/JP2020/040371 JP2020040371W WO2022091241A1 WO 2022091241 A1 WO2022091241 A1 WO 2022091241A1 JP 2020040371 W JP2020040371 W JP 2020040371W WO 2022091241 A1 WO2022091241 A1 WO 2022091241A1
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WO
WIPO (PCT)
Prior art keywords
offset value
rotation
tool
coordinate
mark
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/040371
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English (en)
French (fr)
Japanese (ja)
Inventor
将吾 東
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Fuji Corp
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Fuji Corp
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Application filed by Fuji Corp filed Critical Fuji Corp
Priority to PCT/JP2020/040371 priority Critical patent/WO2022091241A1/ja
Priority to JP2022558662A priority patent/JP7510514B2/ja
Publication of WO2022091241A1 publication Critical patent/WO2022091241A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • This specification discloses an offset value setting method and a robot control device.
  • Patent Document 1 uses a camera that captures a mark on a target fixed in the space of the robot coordinate system, and the shape of the mark captured by the camera when the robot is moved to a plurality of operating positions. Described are those in which a plurality of operation positions and robot postures whose features satisfy a predetermined condition are memorized and calibrated.
  • the main purpose of this disclosure is to set the offset value of the tool attached by offsetting the control point from the origin of the tip of the arm with higher accuracy.
  • the offset value setting method of the present disclosure is described. It is an offset value setting method of a tool attached to the tip of an arm of an articulated robot and the control point is offset in the XY direction from the origin of the tip. Image recognition of a plate having a position mark for alignment in the XY direction of the tool and a rotation orientation mark for alignment around the Z axis is performed, and the first coordinate indicating the position of the position mark in the XY direction is acquired. The first acquisition step to do and After operating the arm with the first coordinate as the target position of the control point of the tool using the offset value in the design of the tool, the actual position of the control point and the rotation direction of the tool are the position marks.
  • the second acquisition step of acquiring the second coordinate indicating the position of the control point in the XY direction after the adjustment and the rotation adjustment amount of the tip portion by the adjustment, and the second acquisition step.
  • the third acquisition step to acquire the third coordinate indicating the position where the coordinates are rotated, and A setting step of calculating the difference between the first coordinate and the third coordinate in the X direction and the Y direction, adding the difference to the offset value in the design, and setting the offset value of the tool.
  • the gist is to include.
  • the actual position of the control point and the rotation direction of the tool are the positions. Adjust the position and amount of rotation of the tip so that it matches the mark and the rotation direction mark.
  • the origin position of the adjusted tip is obtained using the second coordinate of the adjusted control point, the rotation adjustment amount of the tip, and the design offset value, and the direction is to return the rotation adjustment amount around the origin position.
  • the third coordinate obtained by rotating the second coordinate is acquired. Then, the difference between the first coordinate and the third coordinate in the X direction and the Y direction is calculated, and the difference is added to the design offset value to set the offset value of the tool.
  • the offset value can be set accurately by removing the influence of the tool processing error, mounting error, and rotation deviation.
  • the block diagram which shows the outline of the structure of the robot 20.
  • Explanatory drawing which shows an example of the offset value setting method.
  • Explanatory drawing which shows an example of offset value calculation after rotation deviation removal.
  • Explanatory drawing which shows an example of the state when setting an offset value.
  • Explanatory drawing which shows an example of the upper surface of a cross plate P.
  • An image diagram showing an example of how to set an offset value An image diagram showing an example of how to set an offset value.
  • An image diagram showing an example of how to set an offset value An image diagram showing an example of how to set an offset value.
  • An image diagram showing an example of how to set an offset value. An image diagram showing an example of how to set an offset value.
  • FIG. 1 is a configuration diagram showing an outline of the configuration of the robot 20.
  • FIG. 2 is an explanatory diagram showing an electrical connection relationship between the robot 20 and the robot control device 70.
  • the robot 20 is controlled by the robot control device 70 to perform a predetermined work on a work (work object) transported by the work transfer device 12 (see FIG. 2).
  • the predetermined work may include a pick-up work for picking up the work, a place work for placing the work at a predetermined position, an assembling work for assembling the work at a predetermined position, and the like.
  • the robot 20 includes, for example, a 5-axis vertical articulated arm (hereinafter referred to as an arm) 22.
  • the arm 22 has six links (first to sixth links 31 to 36) and five joints (first to fifth joints 41 to 45) that rotatably or swivelly connect each link.
  • motors servo motors
  • encoders rotary encoders
  • the sixth link 36 is referred to as a tip link (tip portion) 36.
  • a work tool (hereinafter referred to as tool T) as an end effector can be attached to and detached from the tip link 36 of the arm 22.
  • the tool T include an electromagnetic chuck, a mechanical chuck, a suction nozzle, and the like, and are appropriately selected according to the shape and material of the work to be worked.
  • a camera 24 is attached to the fifth link 35 of the arm 22. The camera 24 images the work, for example, in order to recognize the position and orientation of the work.
  • the arm 22 of the present embodiment configured in this way has the X-axis in the front (front) and rear (back) directions when the robot 20 is viewed from the front, and the extension of the rotation axis of the first joint 41 in the vertical direction of the robot 20.
  • Direction) is the Z-axis
  • movement in the three-dimensional space is possible with the X-axis and the direction orthogonal to the Z-axis as the Y-axis.
  • the three-dimensional space defines a world coordinate system whose origin is a predetermined position of the workbench 11 (see FIG. 5) of the robot 20.
  • a mechanical interface coordinate system whose origin is the center position of the tool mounting surface of the tip link 36, that is, the mounting reference position of the tool T is defined.
  • the origin of this mechanical interface coordinate system is defined as the origin Mo.
  • the robot control device 70 is configured as a microprocessor centered on a CPU 71, and includes a ROM 72, an HDD 73, a RAM 74, an input / output interface (not shown), a communication interface (not shown), and the like, in addition to the CPU 71.
  • the HDD 73 stores the operation program of the robot 20 and the offset value 73a described later of the tool T. Detection signals from encoders 61 to 65, image signals from the camera 24, and operation signals from the display operation panel 28 are input to the robot control device 70.
  • the robot control device 70 outputs a control signal to the motors 51 to 55, the work transfer device 12, and the like, a drive signal to the camera 24, and a display signal to the display operation panel 28.
  • the display operation panel 28 is configured as a touch panel type liquid crystal display that can be touch-operated by an operator.
  • the display operation panel 28 displays various information such as the operating status of the robot 20, inputs operations such as various settings and instructions, and manually operates the arm 22 (position adjustment) by the operator.
  • the display device and the input device may be provided separately.
  • the robot control device 70 drives and controls the motors 51 to 55 of the robot 20 to move the tool T mounted on the arm 22 toward the work, and the tool T is used to perform a predetermined work on the work. I do.
  • the robot control device 70 processes the image captured by the camera 24 to acquire the target position of the control point which is the work center (control center) of the tool T and the target angle (attitude) of the tool T, and mechanically obtains the target angle (attitude) of the tool T. Convert to the target position and target angle of the interface coordinate system (origin Mo). Further, when the control point of the tool T is attached at an offset from the origin Mo, it is converted into a target position and a target angle by reflecting the offset value 73a.
  • the robot control device 70 sets the target position and the target angle of each joint of the arm 22 by using well-known parameters and the like for the converted target position and target angle. Then, the robot control device 70 drives and controls the corresponding motors 51 to 55 so that the position and angle of each joint match the target position and target angle, and the tool is used to perform work on the work. Drive control of T.
  • FIG. 3 is an explanatory diagram showing an example of an offset value setting method.
  • FIG. 4 is an explanatory diagram showing an example of offset value calculation after removal of rotational deviation, and is the content of S60 in FIG.
  • FIG. 5 is an explanatory diagram showing an example of a state when an offset value is set
  • FIG. 6 is an explanatory diagram showing an example of an upper surface of the cross plate P.
  • 7 to 11 are image views on an XY plane showing an example of a method of setting an offset value, and for convenience of explanation, offset deviation and rotation deviation are largely shown.
  • the offset value setting method of the present embodiment is performed by an operator or the like by installing a cross plate P at a predetermined position on the workbench 11 of the robot 20 as shown in FIG.
  • the cross plate P has a cross-shaped pattern, a position mark Mp for alignment of the tool T, and a rotation orientation mark Mr for rotation orientation alignment formed on the upper surface thereof.
  • the position mark Mp is a circular mark formed at the center of the cross, that is, the center of the plate.
  • the rotation direction mark Mr is a mark indicating the projected shape of the tool T. For example, the projected shapes of the pair of mechanical chucks are formed at symmetrical positions about the position mark Mp.
  • the operator causes the robot control device 70 to set an offset value while the cross plate P is installed on the workbench 11 and the display operation panel 28 is used to input necessary information or manually operate the arm 22.
  • the operator first registers the offset value in the design of the tool T (S10).
  • the design offset value (hereinafter referred to as the offset design value) is determined based on the design dimensions of the tool T as the distances in the X and Y directions from the mounting reference position of the tool T to the control point of the tool T.
  • the offset design value is registered by the operator, for example, using the display operation panel 28.
  • FIG. 5 shows a state in which the position (control point) T0 of the work center where the mechanical chuck as the tool T chucks the work is offset by Xoff0 in the X direction from the origin Mo. Not only the offset values in the X direction and the Y direction but also the offset values in the rotation direction around the Z axis may be registered, but if there is no offset design value in the rotation direction, the value 0 is registered.
  • the CPU 71 moves the camera 24 so that the center of the camera 24 is aligned with the center of the cross plate P (position mark Mp), and the first coordinates (X1, Y1) indicating the position (center position) of the position mark Mp at that time. And the rotation amount R1 around the Z axis of the rotation direction mark Mr (S20, FIG. 7).
  • the CPU 71 processes the image captured by the camera 24 to recognize the position mark Mp and the rotation direction mark Mr, and acquires the position and the rotation direction.
  • the rotation amount R1 of S20 indicates the rotation deviation amount around the Z axis of the cross plate P on the workbench 11, and if the cross plate P is correctly installed without the rotation deviation, the value becomes 0. In FIG.
  • the first coordinates (X1, Y1) acquired in S20 are referred to as “S20 (X1, Y1)”, and the same applies to FIGS. 8 to 11. Further, the origin Mo of the mechanical interface coordinate system when S20 is performed, that is, the origin Mo of the tip link 36 is set as the origin Mo0.
  • the CPU 71 sets the target position and the target rotation amount (target angle) of the control point of the tool T as the first coordinates (X1, Y1) and the rotation amount R1, and operates the arm 22 so that the tool T moves.
  • Control S30, FIG. 7
  • the actual offset value may differ from the offset design value, and offset deviation in the X direction and Y direction or rotation deviation around the Z axis may occur.
  • the position of the actual control point of the tool T moved in S30 does not match the first coordinate (X1, Y1) or the rotation amount R1, and the position shift or the rotation shift occurs.
  • the position and rotation amount (angle) of the tip link 36 are adjusted so that the position and rotation direction of the control point of the tool T coincide with the position mark Mp and the rotation direction mark Mr of the cross plate P. (S40, FIG. 8).
  • the operator visually adjusts the control point using the display operation panel 28 so that the position and the rotation direction of the control point of the tool T match the position mark Mp and the rotation direction mark Mr. Operate the robot 20.
  • the position where the rotation deviation is eliminated by the rotation adjustment is shown by a dotted line
  • the position where the offset deviation is eliminated by the position adjustment is shown by a solid line.
  • the position where the origin Mo of the mechanical interface coordinate system moves from the origin Mo0 as the position is adjusted in the XY direction is defined as the origin Mo1.
  • the CPU 71 acquires the second coordinates (X2, Y2) indicating the position of the control point after adjustment (after movement) and the rotation amount (rotation adjustment amount) R2 (S50, FIG. 8, FIG. 9).
  • the CPU 71 since the CPU 71 erroneously recognizes that the control point is in "S20 (X1, Y1)" in S30, it recognizes that the adjustment has been made for "S20 (X1, Y1)".
  • the position where the rotation is adjusted with respect to “S20 (X1, Y1)” (the same position as S40) is shown by a dotted line, and the position where the position is adjusted in the XY direction is shown by a solid line.
  • the position coordinates of "S50 (X2, Y2)" are acquired as the second coordinates (X2, Y2).
  • the solid line position of S50 is in the X direction.
  • the offset deviation in the Y direction also overlaps with the rotation deviation due to the difference in the center of rotation. Therefore, the differences ⁇ X, ⁇ Y, and ⁇ R are calculated based on the second coordinates (X2, Y2) and the rotation amount R2, and the first coordinates (X1, Y1) and the rotation amount R1 and reflected in the offset design value. Even so, the effect of the rotation shift remains and the correct offset value is not obtained.
  • the process of calculating the offset value after removing the rotation deviation shown in FIG. 4 is performed so as to calculate the offset value after removing the rotation deviation (S60).
  • the CPU 71 first derives the origin Mo1 after movement based on the offset design value, the second coordinates (X2, Y2), and the rotation amount R2 (S61).
  • the CPU 71 first calculates an offset value in the XY direction in a state of being rotated by the rotation amount R2, that is, an offset value reflecting the rotation deviation of the rotation amount R2, from the rotation amount R2 and the offset design value.
  • the CPU 71 derives a position separated from the second coordinates (X2, Y2) by the calculated offset value as the origin Mo1.
  • the derivation method is not limited to this method, and any method may be used as long as the origin Mo1 after movement is derived by using at least one of the design offset value, the second coordinates (X2, Y2), and the rotation amount R2.
  • the CPU 71 removes the rotation deviation of the tool T (S62).
  • the CPU 71 corrects the second coordinates (X2, Y2) by rotating the second coordinates (X2, Y2) by the rotation amount R2 in the direction opposite to the rotation amount R2 with the origin Mo1 calculated in S61 as the center.
  • the third coordinate (X3, Y3) is acquired (FIG. 10). As a result, the position of the control point from which the rotation deviation of the tool T is removed is acquired.
  • the CPU 71 removes the rotational deviation of the cross plate P (S63).
  • the CPU 71 rotates the first coordinate (X1, Y1) and the third coordinate (X3, Y3) by the rotation amount R1 in the direction opposite to the rotation amount R1 acquired in S20 with the origin Mo1 as the center.
  • the first coordinate (X1', Y1') corrected by the above and the third coordinate (X3', Y3') are acquired (FIG. 11). As a result, the position where the rotation deviation of the cross plate P is removed is acquired.
  • the CPU 71 stores the offset values (Xoff, Yoff) in the X and Y directions calculated in S60 (S65) in the HDD 73 as the offset values 73a in association with the identification information such as the type and model of the tool T. (S70).
  • the robot control device 70 can make the robot 20 perform the work using the tool T by removing the rotation deviation and using the correctly set offset value 73a, so that the work accuracy can be improved. ..
  • S20 of the offset value setting method of the present embodiment corresponds to the first acquisition step
  • S30 and S40 correspond to the operation step
  • S50 corresponds to the second acquisition step
  • S61 and S62 for calculating the offset value after removing the rotation deviation.
  • S64 and S65 correspond to the setting step.
  • S63 corresponds to the correction step.
  • the camera 24 corresponds to the camera.
  • the HDD 73 of the robot control device 70 corresponds to the storage unit
  • the CPU 71 corresponds to the control unit
  • the robot control device 70 corresponds to the robot control device.
  • the cross plate P is image-recognized and the first coordinates (X1, Y1) and the rotation amount R1 are acquired.
  • the first coordinates (X1, Y1) as the target position of the control point of the tool T
  • the position and rotation amount of the tip link 36 are adjusted after the arm 22 is operated, and the second coordinates (X2, Y1) of the control point are adjusted.
  • Y2) and the rotation amount (rotation adjustment amount) R2 are acquired.
  • the origin is rotated by rotating the second coordinate (X2, Y2) in the direction of returning the rotation amount R2 around the origin Mo1 obtained from the second coordinates (X2, Y2), the rotation amount R2, and the offset design value.
  • the third coordinates (X3, Y3) from which the rotation deviation due to the movement of Mo (rotation center) is removed are acquired. Further, by rotating the first coordinate (X1, Y1) and the third coordinate (X3, Y3) around the origin Mo1 in the direction opposite to the rotation amount R1, the first coordinate that eliminates the rotation deviation of the cross plate P is removed. It is corrected to (X1', Y1') and the third coordinate (X3', Y3').
  • the difference ⁇ X, ⁇ Y between the first coordinate (X1', Y1') and the third coordinate (X3', Y3') is added to the offset design value to set the offset value.
  • the rotation deviation of the tool T can be removed and the offset value can be set accurately.
  • the offset value can be set more accurately by removing the influence of the rotation deviation of the cross plate P.
  • the position mark Mp is formed at the center of the cross line and the projected shape of the outer shape of the tool T is formed as the rotation direction mark Mr, the position of the control point and the rotation direction of the tool T can be determined. The work of adjustment can be performed more appropriately.
  • the offset value can be set by using the camera 24 included in the robot 20, the offset value can be easily adjusted without preparing measuring tools or sensors other than the components of the robot 20.
  • the rotation deviation of the cross plate P is removed in S63 of the offset value calculation after removing the rotation deviation in FIG. 4, but the present invention is not limited to this, and S63 may be omitted.
  • S63 may be omitted.
  • S64 the difference ⁇ X, ⁇ Y between the first coordinate (X1, Y1) and the third coordinate (X3, Y3) may be calculated.
  • the camera 24 attached to the arm 22 of the robot 20 is used, but the present invention is not limited to this, and a camera provided in the robot system including the robot 20 may be used, for example, the camera is suspended above the robot 20 and installed. You may use a camera. Further, a camera different from the camera 24 attached to the robot 20 or the camera provided in the robot system may be used, or a dedicated camera installed when setting the offset value may be used.
  • a cross plate P in which a circular position mark Mp and a rotation direction mark Mr indicating the projection shape of the tool T are formed is used, but the present invention is not limited to this.
  • the position mark Mp may be any mark that can be aligned and is not limited to a circular shape.
  • the rotation direction mark Mr may be any mark as long as it can be rotated and oriented around the Z axis, and is not limited to the mark indicating the projected shape of the tool T.
  • the plate is not limited to the cross plate P on which the cross-shaped pattern is formed, and may be any plate on which the position mark Mp and the rotation direction mark Mr are formed.
  • the robot control device 70 plays a central role in performing the offset value setting method, but the present invention is not limited to this, and an image processing device for processing the image of the camera 24 is provided separately from the robot control device 70. If this is the case, the image processing device may take the lead in performing the offset value setting method. Alternatively, the offset value setting method may be performed mainly by a dedicated device for setting the offset value.
  • the offset value setting method and the robot control device of the present disclosure may be configured as follows.
  • the first acquisition step the plate arranged on the work table of the articulated robot is image-recognized, and the rotation deviation between the first coordinates and the rotation direction mark.
  • a correction step is included in which the amount is acquired, and after the third acquisition step, the first coordinate and the third coordinate are rotated and corrected in a direction for eliminating the rotation deviation amount around the origin position.
  • the difference between the corrected first coordinate and the third coordinate in the X direction and the Y direction may be calculated and the offset value of the tool may be set. By doing so, even if the plate arranged on the workbench has a rotation deviation, the influence of the rotation deviation can be removed and the offset value can be set more accurately.
  • the plate may have the position mark formed at the center of the crosshairs and the projected shape of the outer shape of the tool formed as the rotation direction mark. In this way, the adjustment work can be performed more appropriately when the actual position of the control point and the rotation direction of the tool are adjusted visually by the operator.
  • the robot may include a camera attached to the arm, and may recognize an image captured by the camera in the first acquisition step.
  • the offset value can be set by using the camera provided in the robot, so that the offset value can be easily adjusted without preparing measuring tools or sensors other than the components of the robot.
  • the robot control device of the present disclosure controls the operation of the storage unit that stores the offset value set by any of the offset value setting methods described above, and the arm to which the tool is attached based on the offset value.
  • the gist is to have a control unit. Since the robot control device of the present disclosure stores the offset value set by the offset value setting method, the offset value set with high accuracy can be used regardless of the processing error and the mounting error of the tool. Therefore, the robot control device can improve the work accuracy of the articulated robot in which the tool is attached to the arm.
  • This disclosure can be used in the robot manufacturing industry and the like.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
PCT/JP2020/040371 2020-10-28 2020-10-28 オフセット値設定方法およびロボット制御装置 Ceased WO2022091241A1 (ja)

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JP2022558662A JP7510514B2 (ja) 2020-10-28 2020-10-28 オフセット値設定方法およびロボット制御装置

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117346773A (zh) * 2022-06-27 2024-01-05 一汽-大众汽车有限公司 后轴自动抓取的六自由度视觉引导方法

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Publication number Priority date Publication date Assignee Title
JPH07311610A (ja) * 1994-05-19 1995-11-28 Fanuc Ltd 視覚センサを用いた座標系設定方法
JP2019025632A (ja) * 2017-08-03 2019-02-21 ファナック株式会社 キャリブレーションシステムおよびキャリブレーション方法

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Publication number Priority date Publication date Assignee Title
CN115191066B (zh) 2020-04-14 2023-08-22 株式会社富士 线缆夹及线缆的组装方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07311610A (ja) * 1994-05-19 1995-11-28 Fanuc Ltd 視覚センサを用いた座標系設定方法
JP2019025632A (ja) * 2017-08-03 2019-02-21 ファナック株式会社 キャリブレーションシステムおよびキャリブレーション方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117346773A (zh) * 2022-06-27 2024-01-05 一汽-大众汽车有限公司 后轴自动抓取的六自由度视觉引导方法

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